ros-erle-imu

A ROS package to read data from the IMU using the Imu.msg message. Quaternion calculation is unfinished so don't take it as a reference.

The package consists of a talker in python and a listener in c++. The talker reads data while the listener prints it. The listener also converts Quaternions to Euler angles.

The IMU message is taken form the 'sensor_msgs' package, so you should import the package to your workspace. You can find that here.

Quick setup:

# Within a catkin directory
cd src
git clone https://github.com/erlerobot/ros_erle_imu      
cd ..
catkin_make_isolated --pkg ros_erle_imu
sudo -s # you'll need privileges since we're accessing spi
source devel/setup.bash
rosrun ros_erle_imu imu_talker

If you have problems to execute the talker (imu.py), try executing it as root.

Test it by typing the following in a different terminal:

OPTION 1

rostopic echo imu  

OPTION 2

rosrun ros_erle_imu imu_listener

Erle-Brain 2 Supported

Testing

rosrun ros_erle_imu visualization.py

Links

• Erle Robotics
• Erle-Brain